Linear function \(f(x,u,y) = Ax + Bu + Cy + d\). More...

#include <aligator/modelling/linear-function.hpp>

Inheritance diagram for aligator::LinearFunctionTpl< Scalar >:

Collaboration diagram for aligator::LinearFunctionTpl< Scalar >:

Public Types
using	Base = StageFunctionTpl<Scalar>

using	Data = StageFunctionDataTpl<Scalar>

Public Types inherited from aligator::StageFunctionTpl< Scalar >
using	Scalar

using	Data

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

	LinearFunctionTpl (const int ndx, const int nu, const int ndx2, const int nr)

	LinearFunctionTpl (const ConstMatrixRef A, const ConstMatrixRef B, const ConstMatrixRef C, const ConstVectorRef d)

	LinearFunctionTpl (const ConstMatrixRef A, const ConstMatrixRef B, const ConstVectorRef d)
	Constructor where \(C = 0\) is assumed.

void	evaluate (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &y, Data &data) const
	Evaluate the function.

void	computeJacobians (const ConstVectorRef &, const ConstVectorRef &, const ConstVectorRef &, Data &data) const
	Compute Jacobians of this function.

virtual shared_ptr< Data >	createData () const
	Instantiate a Data object.

Public Member Functions inherited from aligator::StageFunctionTpl< Scalar >
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

	StageFunctionTpl (const int ndx1, const int nu, const int ndx2, const int nr)

	StageFunctionTpl (const int ndx, const int nu, const int nr)
	Constructor where ndx2 = ndx1.

virtual void	computeVectorHessianProducts (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &y, const ConstVectorRef &lbda, Data &data) const
	Compute the vector-hessian products of this function.

virtual	~StageFunctionTpl ()=default

Public Attributes
MatrixXs	A_

MatrixXs	B_

MatrixXs	C_

VectorXs	d_

Public Attributes inherited from aligator::StageFunctionTpl< Scalar >
const int	ndx1
	Current state dimension.

const int	nu
	Control dimension.

const int	ndx2
	Next state dimension.

const int	nr
	Function codimension.

Detailed Description

template<typename Scalar>
struct aligator::LinearFunctionTpl< Scalar >

Linear function \(f(x,u,y) = Ax + Bu + Cy + d\).

Definition at line 9 of file linear-function.hpp.

Member Typedef Documentation

◆ Base

template<typename Scalar >

using aligator::LinearFunctionTpl< Scalar >::Base = StageFunctionTpl<Scalar>

Definition at line 12 of file linear-function.hpp.

◆ Data

template<typename Scalar >

using aligator::LinearFunctionTpl< Scalar >::Data = StageFunctionDataTpl<Scalar>

Definition at line 13 of file linear-function.hpp.

Constructor & Destructor Documentation

◆ LinearFunctionTpl() [1/3]

template<typename Scalar >

aligator::LinearFunctionTpl< Scalar >::LinearFunctionTpl	(	const int	ndx,
		const int	nu,
		const int	ndx2,
		const int	nr )

inline

Definition at line 20 of file linear-function.hpp.

◆ LinearFunctionTpl() [2/3]

template<typename Scalar >

aligator::LinearFunctionTpl< Scalar >::LinearFunctionTpl	(	const ConstMatrixRef	A,
		const ConstMatrixRef	B,
		const ConstMatrixRef	C,
		const ConstVectorRef	d )

inline

Definition at line 28 of file linear-function.hpp.

◆ LinearFunctionTpl() [3/3]

template<typename Scalar >

aligator::LinearFunctionTpl< Scalar >::LinearFunctionTpl	(	const ConstMatrixRef	A,
		const ConstMatrixRef	B,
		const ConstVectorRef	d )

inline

Constructor where \(C = 0\) is assumed.

Definition at line 37 of file linear-function.hpp.

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename Scalar >

aligator::LinearFunctionTpl< Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS ( Scalar )

◆ evaluate()

template<typename Scalar >

void aligator::LinearFunctionTpl< Scalar >::evaluate	(	const ConstVectorRef &	x,
		const ConstVectorRef &	u,
		const ConstVectorRef &	y,
		Data &	data ) const

inlinevirtual

Evaluate the function.

Parameters

x	Current state.
u	Controls.
y	Next state.
data	Data holding struct.

Implements aligator::StageFunctionTpl< Scalar >.

Definition at line 41 of file linear-function.hpp.

◆ computeJacobians()

template<typename Scalar >

void aligator::LinearFunctionTpl< Scalar >::computeJacobians	(	const ConstVectorRef &	,
		const ConstVectorRef &	,
		const ConstVectorRef &	,
		Data &	data ) const